Build Asimov 1

Steps

14

Subassemblies

8

Hands-on time (sum)

2 h

Critical path

2 h

Your progress · this device

—

13 steps have no time estimate; times above are lower bounds.

1. preparation
   01

   Prepare tools and supplies

   Set up the workbench with the required tools and consumables: Allen keys (a set is included with the kit), soldering gear, heat-shrink, LOCTITE 222 threadlocker and LOCTITE 401 adhesive. Brands are references only.

   CHECKEvery item on the Required Tools list is on the bench, including a working multimeter and a 2-6 mm hex key set.

   Parts in

   • LOCTITE 222 low-strength threadlockerother.threadlocker-loctite-222
   • LOCTITE 401 instant adhesive (wire retention)other.loctite-401
   • Heat-shrink tubing (3M FP-301 assortment) + SAC305 lead-free solderother.heat-shrink

   Tools

   metric Allen keys 2/2.5/3/4/5/6 mm (included), Phillips screwdriver, flush cutters, wire strippers, heat gun, soldering iron + third hand, digital multimeter, masking/paper tape

   Torque

   —

   Time

   —

   After

   Start

   Source

   docs.menlo.ai

2. software
   02

   Flash the RPU (Radxa CM5)

   Safety · human-verified required

   Hold the RPU MaskROM button, then connect battery power last. Load rk3588_spl_loader v1.15.113 and write asimov-rpu-<version>.img to onboard storage with rkdeveloptool (db, wl 0, rd). Use RPU and RPi images from the same release.

   CHECK`rkdeveloptool ld` shows Mode=Maskrom; the loader reports 'Downloading bootloader succeeded', the write reaches 100%, and reset prints 'Reset Device OK'.

   This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

   Parts in

   • Radxa CM5 compute module (RPU, motion control)compute.radxa-cm5
   • RPU Motion Control Board (custom CM5 carrier: 6x SPI-CAN, RS485, LSM6DSV IMU; KiCad in repo)electronics.rpu-mcb
   • RPU Power Distribution Board (custom, XT90(2+2) input, stacks on MCB; KiCad in repo)electronics.rpu-pdb

   Tools

   rkdeveloptool or RKDevTool v2.96, data-capable USB-C cable

   Torque

   —

   Time

   —

   After

   Start

   Source

   docs.menlo.ai

3. 03

   Flash the Raspberry Pi 5 microSD

   In Raspberry Pi Imager, load the paired asimov rpi-imager-manifest as a custom content repository and select Asimov RPi. Set a unique hostname, a non-reserved username and password, Wi-Fi and SSH, then write and verify.

   CHECKImager finishes writing and verifying without errors, and the hostname you chose is recorded for http://<name>.local:8080.

   Parts in

   • Raspberry Pi 5 (media + network edge computer; part 700_09X)compute.raspberry-pi-5

   Tools

   Raspberry Pi Imager, microSD >= 32 GB

   Torque

   —

   Time

   —

   After

   Start

   Source

   docs.menlo.ai

4. 04

   Connect both computers and open the dashboard

   Safety · human-verified required

   Link the Raspberry Pi 5 and the RPU with a direct Ethernet cable, power both boards, and wait about two minutes. Open http://<name>.local:8080 (or the asimov-XXXX fallback at 10.42.0.1:8080) and sign in.

   CHECKIn First-Run Setup, Go to Firmware shows the RPU online with green Network (ping) and Control dots.

   This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

   Parts in

   • RPU to RPI cable, 1000 mm (RJ45 Male / RJ45 Male)cable.misc-rpu-rpi

   Tools

   —

   Torque

   —

   Time

   —

   After

   02, 03

   Source

   docs.menlo.ai

5. 05

   Assign all 25 motor IDs

   Safety · human-verified required

   Apply the asimov_1_biped profile and enable ID assignment. Connect one motor at a time to RPU port LL, Detect it, set Target ID to the number on its sticker (1-25), then Set & verify. The docs estimate about two hours for the whole setup, mostly this step.

   CHECKAll 25 unique sticker IDs read back correctly after Set & verify, and the motors are kept in ID order.

   This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

   Parts in

   • Encos EC-A6416-P2-25 actuator (hip pitch, waist yaw)actuator.ec-a6416-p2-25
   • Encos EC-A5013-H17-100 actuator (hip roll, shoulder pitch)actuator.ec-a5013-h17-100
   • Encos EC-A3814-H14-107 actuator (hip yaw, shoulder yaw)actuator.ec-a3814-h14-107
   • Encos EC-A4315-P2-36 actuator (knee, shoulder roll)actuator.ec-a4315-p2-36
   • Encos EC-A4310-P2-36 actuator (ankle A/B, elbow, wrist yaw, neck yaw/pitch)actuator.ec-a4310-p2-36

   Tools

   —

   Torque

   —

   Time

   2 h

   After

   04

   Source

   docs.menlo.ai

6. electrical
   06

   Review cable chains and hollow-shaft routing

   Safety · human-verified required

   Keep the battery disconnected throughout. There are six daisy-chain branches (both legs, waist, both arms, neck), and each actuator has two equivalent XT30 (2+2) ports carrying BATT+/BATT-/CAN_H/CAN_L. The single-ended cables for hip roll, hip yaw and shoulder pitch must be routed through the hollow shafts before they are joined.

   CHECKThe battery is disconnected and protected, the six branch entries are identified, and the single-ended hollow-shaft cables are still unjoined and grouped with their modules.

   This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

   Parts in

   • Double-ended XT30 (2+2) cable, 100 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-double-100mm
   • Double-ended XT30 (2+2) cable, 150 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-double-150mm
   • Double-ended XT30 (2+2) cable, 200 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-double-200mm
   • Double-ended XT30 (2+2) cable, 230 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-double-230mm
   • Double-ended XT30 (2+2) cable, 300 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-double-300mm
   • Double-ended XT30 (2+2) cable, 400 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-double-400mm
   • Double-ended XT30 (2+2) cable, 600 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-double-600mm
   • Single-ended XT30 (2+2) cable, 100 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-single-100mm
   • Single-ended XT30 (2+2) cable, 180 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-single-180mm
   • Single-ended XT30 (2+2) cable, 280 mm (BATT+/BATT-/CAN_H/CAN_L)cable.xt30-2p2-single-280mm

   Tools

   —

   Torque

   —

   Time

   —

   After

   05

   Source

   docs.menlo.ai

7. legs
   07

   Build the left leg module (IDs 3,4,5,6)

   Sub-assembly A: hip yaw (ID 3) with its 280 mm cable through the shaft, knee (ID 4), then parts 600_06A and 600_12A and the outer housing 600_04C (17 bolts). Then build the knee housing with ankle actuators A/B (IDs 5, 6) and the linkage cranks, the foot pivot on four 12 mm pillow blocks, and the D-shaft linkage. Join the ankle assemblies with rod ends and steel bars.

   CHECKThe ankle pitch and roll move through the parallel linkage without binding, and the XT30 chain runs hip yaw -> knee -> ankle A -> ankle B.

   Parts in

   • Encos EC-A3814-H14-107 actuator (hip yaw, shoulder yaw)actuator.ec-a3814-h14-107
   • Encos EC-A4315-P2-36 actuator (knee, shoulder roll)actuator.ec-a4315-p2-36
   • Encos EC-A4310-P2-36 actuator (ankle A/B, elbow, wrist yaw, neck yaw/pitch)actuator.ec-a4310-p2-36
   • 12 mm bore 1-side 2-post pillow block (foot pivot)hw.pillow-block-12mm
   • 6 mm bore 1-side 2-post pillow block (ankle linkage shaft)hw.pillow-block-6mm
   • Ball joint rod end (ankle linkage)hw.rod-end
   • Stainless steel bar (ankle linkage)hw.ankle-steel-bar
   • 6 mm stainless D-shaft (ankle linkage)hw.d-shaft-6mm
   • Steel set-screw collarhw.set-screw-collar

   Tools

   hex keys, threadlocker

   Torque

   —

   Time

   —

   After

   06

   Source

   docs.menlo.ai

8. 08

   Build the right leg module (IDs 9,10,11,12)

   Mirror the left leg procedure using the 500_xx parts: hip yaw ID 9, knee ID 10, and ankle actuators ID 11 and ID 12. Threadlock the specified bolts and tighten them in a star pattern.

   CHECKActuator IDs on the stickers match the step (9-12), and the linkage moves freely.

   Parts in

   • Encos EC-A3814-H14-107 actuator (hip yaw, shoulder yaw)actuator.ec-a3814-h14-107
   • Encos EC-A4315-P2-36 actuator (knee, shoulder roll)actuator.ec-a4315-p2-36
   • Encos EC-A4310-P2-36 actuator (ankle A/B, elbow, wrist yaw, neck yaw/pitch)actuator.ec-a4310-p2-36

   Tools

   —

   Torque

   —

   Time

   —

   After

   06

   Source

   docs.menlo.ai

9. arms
   09

   Build left and right arm modules (IDs 13-17, 18-22)

   For each arm, mount the shoulder pitch actuator in 400_04B/300_04B, build the bearing housing with the 4390N159 flanged bearing, and seat shoulder roll and yaw. Solder the shoulder pitch to shoulder roll leads, then add the elbow and wrist yaw. Join the shoulder yaw and elbow leads with four WAGO connectors and stage twelve M4x45 bolts for torso mounting.

   CHECKEach arm reaches its limits (e.g. elbow 0-2.44 rad) without the cables pulling, and 12 M4x45 bolts are bagged with each arm.

   Parts in

   • Encos EC-A5013-H17-100 actuator (hip roll, shoulder pitch)actuator.ec-a5013-h17-100
   • Encos EC-A4315-P2-36 actuator (knee, shoulder roll)actuator.ec-a4315-p2-36
   • Encos EC-A3814-H14-107 actuator (hip yaw, shoulder yaw)actuator.ec-a3814-h14-107
   • Encos EC-A4310-P2-36 actuator (ankle A/B, elbow, wrist yaw, neck yaw/pitch)actuator.ec-a4310-p2-36
   • Flanged ball bearing McMaster 4390N159 (shoulder bearing housing)hw.bearing-4390n159
   • WAGO connector (arm wire joins)hw.wago-connector

   Tools

   —

   Torque

   —

   Time

   —

   After

   06

   Source

   docs.menlo.ai

10. pelvis
    10

    Build the pelvis and attach both legs

    Safety · human-verified required

    Mount waist yaw (ID 23) and the left/right hip pitch actuators (IDs 1, 7) in the pelvis housing 200_01C, route and label the cables, and fit the hip roll actuators (IDs 2, 8). Solder the hip roll leads to the hip yaw leads, insulate the joints, then fix each leg with five threadlocked M5x25 socket bolts.

    CHECKEvery soldered conductor join is heat-shrunk with no exposed copper, continuity is correct with no shorts between BATT+/BATT-/CAN_H/CAN_L, and five M5x25 bolts hold each leg.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Encos EC-A6416-P2-25 actuator (hip pitch, waist yaw)actuator.ec-a6416-p2-25
    • Encos EC-A5013-H17-100 actuator (hip roll, shoulder pitch)actuator.ec-a5013-h17-100
    • M5x25 socket boltfastener.m5x25-socket

    Tools

    —

    Torque

    —

    Time

    —

    After

    07, 08

    Source

    docs.menlo.ai

11. torso
    11

    Assemble torso, attach arms and join to pelvis

    Fit the chain shackles and waist plate 100_02A to torso shell 100_01C, then install neck yaw (ID 24) and the speaker. Attach both arm modules with plates 100_05A/100_08A and 24 M4x45 bolts, then secure the waist plate to waist yaw ID 23 with six M4x20 bolts.

    CHECKThe torso rotates on waist yaw without rubbing, and all 24 M4x45 arm bolts are threadlocked and tight.

    Parts in

    • Chain shackle (installed in torso shell with M6x85 bolts)hw.chain-shackle
    • 10 W 4 ohm speaker (part 100_13X)electronics.speaker-10w
    • M4x45 socket boltfastener.m4x45-socket
    • M4x20 socket boltfastener.m4x20-socket

    Tools

    —

    Torque

    —

    Time

    —

    After

    10, 09

    Source

    docs.menlo.ai

12. electrical
    12

    Install RPU, head, camera and Raspberry Pi 5

    Safety · human-verified required

    Mount the RPU and plug the pelvis, shoulder and neck cables into the labelled ports (LL, RL, LA, RA, W, NY, NP). Fit neck pitch (ID 25) and head base 700_03C, mount the camera and Pi 5 on carrier 700_05C, route power and Ethernet to the RPU, and close the head covers.

    CHECKEvery branch connector sits in the RPU port matching its label, and the Ethernet and RPi power cables reach without strain through the full neck yaw/pitch range.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Radxa CM5 compute module (RPU, motion control)compute.radxa-cm5
    • RPU Motion Control Board (custom CM5 carrier: 6x SPI-CAN, RS485, LSM6DSV IMU; KiCad in repo)electronics.rpu-mcb
    • RPU Power Distribution Board (custom, XT90(2+2) input, stacks on MCB; KiCad in repo)electronics.rpu-pdb
    • Encos EC-A4310-P2-36 actuator (ankle A/B, elbow, wrist yaw, neck yaw/pitch)actuator.ec-a4310-p2-36
    • Raspberry Pi 5 (media + network edge computer; part 700_09X)compute.raspberry-pi-5
    • 2 MP monocular camera (part 700_10X)sensor.camera-2mp
    • Head board (buck converters for RPi5 5V + audio IC; EasyEDA .epro in repo)electronics.head-board
    • M2.5x20 hex standofffastener.m2.5x20-hex-standoff

    Tools

    —

    Torque

    —

    Time

    —

    After

    11, 02, 03

    Source

    docs.menlo.ai

13. 13

    Install battery assembly and torso covers

    Safety · human-verified required

    Assemble the 13S4P battery 100_11X into enclosure 100_10C/100_12C, slot it into the torso, and fix it with two M4x20 flat bolts. Fit the front and rear covers with twelve M4x8 flat bolts. Leave the battery connector unplugged from the RPU power port.

    CHECKThe covers are secured, and the battery connector is visibly disconnected from the RPU power port.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • 13S4P Li-ion battery pack, INR18650 cells, 46.8 V nominal, 10.5 Ah, 491.4 Wh, with PCM (part 100_11X)power.battery-13s4p

    Tools

    —

    Torque

    —

    Time

    —

    After

    12

    Source

    docs.menlo.ai

14. bring-up
    14

    Final mechanical integration check

    Safety · human-verified required

    Confirm both legs are on the pelvis, both arms are on the torso, the torso is fixed to the pelvis, the head and RPU are installed, the covers are secured and no cable is trapped. Keep the robot mechanically supported with the battery disconnected, because Menlo has not yet published powered verification or first boot.

    CHECKAll eight Finish Assembly checklist items pass, including 'battery remains disconnected' and 'robot is mechanically supported'.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    —

    Tools

    —

    Torque

    —

    Time

    —

    After

    13

    Source

    docs.menlo.ai

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